The article devotes to the development of a robotic tentacle belonging to the class of soft robots. Such robots provide reliable grasping of objects in hard-to-reach places without great mechanical effort, which makes them in-demand in various fields of collaborative robotics. The working principle of a mechanical tentacle is described. A solution to the problems of positioning and providing motion of the tentacle, for which it is proposed to use feedback based on load cells and a drive mechanism based on stepper motors, is considered. The mentioned design solutions were applied and investigated during creation of a prototype of a tentacle robot, and their perspectivity is recognized.